Title:
STOP METHOD OF ROBOT AND ROBOT SYSTEM
Document Type and Number:
Japanese Patent JP2021024038
Kind Code:
A
Abstract:
To provide a stop method for a robot for facilitating restarting at a power recovery time and a restart of a normal operation by enabling the reduction of the power consumption of a standby power source when a capacitor and a battery are provided as the standby power source to cause the robot to perform a prescribed operation when a power failure in an external power source is detected.SOLUTION: A time for allowing the speed of a Z-axis to be 0 by deceleration due to gravity acceleration is calculated as a deceleration time on the basis of a rising speed of the Z-axis at a reference time when an occurrence of a power failure is detected with the Z-axis being in a rising state when an axis where at least a portion of a robot is moved in a gravity direction is regarded as the Z-axis in the robot and when the time of detecting an occurrence of the power failure is regarded as a reference time, and first control for driving the Z-axis is executed so as to perform deceleration stop of an increase of the Z-axis at the deceleration time.SELECTED DRAWING: Figure 3
Inventors:
OKUMURA HIROKATSU
Application Number:
JP2019144513A
Publication Date:
February 22, 2021
Filing Date:
August 06, 2019
Export Citation:
Assignee:
NIDEC SANKYO CORP
International Classes:
B25J19/06; H02P3/00
Domestic Patent References:
| JP2009201180A | 2009-09-03 | |||
| JP2003131701A | 2003-05-09 | |||
| JP2008204365A | 2008-09-04 | |||
| JP2002218676A | 2002-08-02 | |||
| JP2004220384A | 2004-08-05 |
Attorney, Agent or Firm:
Akio Miyazaki
Masaaki Ogata
Masaaki Ogata